Aligned foot rotation to ground normal

client/Main.tscn

@@ -140,6 +140,7 @@ scale_max = 1.1
 tilt = 0.15
 
 [node name="Enemies" type="Node3D" parent="World"]
+visible = false
 script = ExtResource("15_25nmg")
 scene = ExtResource("15_hgl78")
 noise = SubResource("FastNoiseLite_yp2fx")

client/player/Player.tscn

@@ -90,6 +90,7 @@ bone_idx = 12
 
 [node name="Weapon" type="BoneAttachment3D" parent="Model/Female/Armature/GeneralSkeleton" index="6"]
 transform = Transform3D(0, -1, 0, 0, 0, -1, 1, 0, 0, -0.609469, 1.26691, -0.0234125)
+visible = false
 bone_name = "RightMiddleProximal"
 bone_idx = 44
 
@@ -124,6 +125,7 @@ libraries = {
 skeleton = NodePath("../Model/Female/Armature/GeneralSkeleton")
 movement = NodePath("../Movement")
 footsteps = SubResource("AudioStreamRandomizer_4yj1k")
+step_threshold = 0.1
 
 [node name="Health" parent="." instance=ExtResource("2_np5ag")]
 max_value = 100.0

client/player/footsteps/Foot.gd

@@ -5,4 +5,6 @@ var bone_id: int
 var audio: AudioStreamPlayer3D
 var position: Vector3
 var velocity: Vector3
-var attachment: BoneAttachment3D
+var attachment: BoneAttachment3D
+var floor_distance: float
+var normal: Vector3

client/player/footsteps/FootstepsComponent.gd

@@ -1,14 +1,17 @@
 class_name FootstepsComponent
-extends Node
+extends Node3D
 
 @export var skeleton: Skeleton3D
 @export var movement: MovementComponent
 @export var footsteps: AudioStreamRandomizer
 @export var step_threshold := 0.1
+@export var ik_step_threshold := 0.2
+@export var ik_speed := 5.0
 
 const feet_names := ["LeftFoot", "RightFoot"]
 
 var feet: Array[Foot] = []
+var ik_time: float
 
 func _ready():
 	for foot_name in feet_names:
@@ -17,6 +20,8 @@ func _ready():
 		foot.bone_id = skeleton.find_bone(foot_name)
 		foot.audio = get_node(foot_name)
 		foot.position = skeleton.to_global(skeleton.get_bone_global_pose(foot.bone_id).origin)
+		foot.floor_distance = INF
+		foot.normal = Vector3.UP
 		foot.attachment = BoneAttachment3D.new()
 		foot.attachment.bone_name = foot_name
 		foot.attachment.bone_idx = foot.bone_id
@@ -26,13 +31,25 @@ func _ready():
 
 func _process(delta: float):
 	for foot in feet:
+		var global_pose := skeleton.get_bone_global_pose(foot.bone_id)
 		var old_position := foot.position
-		foot.position = skeleton.to_global(skeleton.get_bone_global_pose(foot.bone_id).origin)
-		foot.velocity = (foot.position - old_position) / delta
+		foot.position = skeleton.to_global(global_pose.origin)
+		
+		if foot.floor_distance < ik_step_threshold:
+			var bone_to_global := skeleton.global_transform * global_pose
+			var normal_local := bone_to_global.basis.transposed() * foot.normal
+			var pose := skeleton.get_bone_pose(foot.bone_id)
+			var rot := get_foot_rotation(pose.basis, normal_local)
+			ik_time = minf(ik_time + ik_speed * delta, 1.0)
+			skeleton.set_bone_pose_rotation(foot.bone_id, pose.basis.slerp(rot, ik_time))
+		else:
+			ik_time = 0
 
-		if foot.position.y > step_threshold:
+		if foot.floor_distance > step_threshold:
 			continue
 		
+		foot.velocity = (foot.position - old_position) / delta
+		
 		if foot.velocity.y > 0:
 			continue
 		
@@ -44,6 +61,51 @@ func _process(delta: float):
 		
 		play(foot.audio)
 
+func _physics_process(_delta):
+	var space_state = get_world_3d().direct_space_state
+
+	for foot in feet:
+		var from := foot.position
+		var to := foot.position + Vector3(0, -10, 0)
+		var query = PhysicsRayQueryParameters3D.create(from, to, 1)
+		var result = space_state.intersect_ray(query)
+		
+		if result:
+			foot.floor_distance = (foot.position - result.position).length()
+			foot.normal = result.normal
+		else:
+			foot.floor_distance = INF
+			foot.normal = Vector3.UP
+
 func play(audio_player: AudioStreamPlayer3D):
 	audio_player.stream = footsteps
 	audio_player.play()
+
+func get_foot_rotation(base: Basis, normal: Vector3) -> Basis:
+	var rot := align_with_y(base, normal)
+	return rot.rotated(Vector3.UP, PI)
+
+func align_with_y(base: Basis, normal: Vector3) -> Basis:
+	base.x = -base.z.cross(normal)
+	base.y = normal
+	return base.orthonormalized()
+
+# func get_foot_rotation2(base: Basis, normal: Vector3) -> Basis:
+# 	normal.x = -normal.x
+# 	normal.z = -normal.z
+# 	return align_up(base, normal)
+
+# func align_up(base: Basis, normal: Vector3) -> Basis:
+# 	var result = Basis()
+# 	var node_scale = base.get_scale().abs()
+
+# 	result.x = normal.cross(base.z)
+# 	result.y = normal
+# 	result.z = base.x.cross(normal)
+
+# 	result = result.orthonormalized()
+# 	result.x *= node_scale.x
+# 	result.y *= node_scale.y
+# 	result.z *= node_scale.z
+
+# 	return result

client/player/footsteps/FootstepsComponent.tscn

@@ -2,7 +2,7 @@
 
 [ext_resource type="Script" path="res://player/footsteps/FootstepsComponent.gd" id="1_xjrot"]
 
-[node name="Footsteps" type="Node"]
+[node name="Footsteps" type="Node3D"]
 script = ExtResource("1_xjrot")
 
 [node name="LeftFoot" type="AudioStreamPlayer3D" parent="."]